CN110308690A - Brshless DC motor DSP logic control program design method based on Petri network - Google Patents
Brshless DC motor DSP logic control program design method based on Petri network Download PDFInfo
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- CN110308690A CN110308690A CN201910682010.0A CN201910682010A CN110308690A CN 110308690 A CN110308690 A CN 110308690A CN 201910682010 A CN201910682010 A CN 201910682010A CN 110308690 A CN110308690 A CN 110308690A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Automation & Control Theory (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The design method of the present invention relates to a kind of brshless DC motor DSP logic control program based on Petri network, pass through the Hall sensor and course changing control variable modeling to brshless DC motor, the Petri network of power tube is obtained, Petri net model is intuitive and easy to understand, and is easy to analyze.The present invention, up to nomography, calculates the state set of brshless DC motor dynamical system by Petri network, and is verified one by one according to trapezoidal commutation logic, whether specification is met, if not meeting, the Petri net model of system is redesigned, avoids the logic error in program.The present invention provides brshless DC motor logic control mathematic(al) representation, lays the groundwork for the design of DSP logic control program, and the control of mathematic(al) representation description logic is more rigorous and clear.
Description
Technical field
The present invention relates to brshless DC motor DSP logic control fields, are based on Petri network more specifically to one kind
Brshless DC motor DSP logic control program design method, to ensure the correctness and reliability of logical program.
Background technique
Common DC brushless motor is by motor body, power driving circuit and position sensor composition.Motor body
It is armature winding on stator, rotor material is permanent magnet, and rotor generates rotating excitation field inside motor, and armature winding is according to corresponding
Logical order be powered and generate corresponding rotating excitation field, two magnetic field interactions generate turning moment, realize brushless motor just
Often operating.The magnetic potential signal of rotor is converted to electric signal and is transmitted to control by the position of position sensor real-time detection rotor
Device processed, controller determine the commutation information of motor in driving circuit according to the rotor-position of acquisition.
The design and debugging of traditional brshless DC motor DSP logic control program are comparatively laborious, and verifying and detection are usual
By artificial debugging repeatedly and trial and error repeatedly, it is difficult to avoid the logic error in program, hardly result in reliable logic control
Program.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide one kind convenient for verifying, avoids programmed logic mistake,
To obtain the design method of the brshless DC motor DSP logic control program based on Petri network of reliable logic control program.
Technical scheme is as follows:
A kind of design method of the brshless DC motor DSP logic control program based on Petri network, includes the following steps:
1) Petri net model of brshless DC motor logic control is established；
2) the brshless DC motor Dynamic behavior model based on Petri network reachability graph is established；
3) brshless DC motor DSP logic control program is designed by Petri network.
Preferably, step 1) is specific as follows:
1.1) Petri net model of Hall sensor is established: with a pair of of library instituteWithHall sensor is described respectively
High level signal and low level signal, with a pair changeWithHall sensor is described respectively from low level to high level
Switching and Hall sensor are switched from high level to low level；
1.2) Petri net model of motor direction of rotation control variable is established: with a pair of of library instituteWithDescription electricity respectively
Machine rotates and reverse；It is changed with a pairWithMotor is described respectively, and switching and motor are rotated forward by just turning to reversion by counter steer
Switching；
1.3) Petri net model of each power tube is established: with a pair of of library instituteWithLeading for power tube is described respectively
Logical state and off state；The trapezoidal commutation logic expression formula form of power tube is turned into disjunctive normal form, it will wherein each conjunction
Logical description is a transition, and the input of transition corresponds to the corresponding library institute node of logical variable in conjunction logical expression, is changed
Output be the corresponding on or off library institute node of power tube.
Preferably, step 2) specifically: according to Petri network up to nomography, calculate brshless DC motor dynamical system
State set, and verified one by one according to trapezoidal commutation logic, if meet specification, if not meeting, redesign Petri network mould
Type.
Preferably, under original state, being defaulted as whole signals is low level or off state, as phase in step 2)
The marked Tokken in the library answered obtains initial marking.
Preferably, step 3) is specific as follows:
3.1) by the Petri network of each Hall sensor, according to its library institute titleWithProgram is controlled in DSP
In, defining the corresponding input variable of the sensor is Hi；
3.2) by the Petri network of course changing control variable, according to its library institute titleWithIn DSP control program,
Defining motor direction of rotation and controlling corresponding input variable is D；
3.3) by the Petri network of power tube variable, according to its library institute titleWithIt is fixed in DSP control program
The corresponding input variable of the justice power tube is VTi；
3.4) brshless DC motor is designed according to the execution logic of each transition by the Petri network of each power tube
DSP logic control program.
Beneficial effects of the present invention are as follows:
The design method of brshless DC motor DSP logic control program of the present invention based on Petri network, by right
The Hall sensor and course changing control variable modeling of brshless DC motor, obtain the Petri network of power tube, Petri net model is straight
It sees understandable, and is easy to analyze.
The present invention up to nomography, calculates the state set of brshless DC motor dynamical system by Petri network, and according to
Trapezoidal commutation logic is verified one by one, if is met specification, if not meeting, is redesigned the Petri net model of system, avoid journey
Logic error in sequence.
The present invention provides brshless DC motor logic control mathematic(al) representation, lays the groundwork for the design of DSP logic control program,
The control of mathematic(al) representation description logic is more rigorous and clear.
Detailed description of the invention
Fig. 1 is the circuit diagram of brushless direct current motor drive circuit；
Fig. 2 is the status diagram of Hall sensor signal output；
Fig. 3 is the status diagram of brshless DC motor commutation；
Fig. 4 is the schematic diagram of the Petri net model of Hall sensor；
Fig. 5 is the schematic diagram of the Petri net model of course changing control variables D；
Fig. 6 is power tube VT3Petri net model schematic diagram；
Fig. 7 is the State Reachability Graph of brshless DC motor DSP logic control program.
Specific embodiment
The present invention is further described in detail with reference to the accompanying drawings and embodiments.
The present invention in order to solve it is of the existing technology design and debug it is comparatively laborious, verifying and detection usually rely on manually
Debugging repeatedly and trial and error repeatedly, it is difficult to avoid the logic error in program, hardly result in reliable logic control program etc. no
Foot, provides a kind of design method of brshless DC motor DSP logic control program based on Petri network, to ensure logical program
Correctness and reliability.
The design method of brshless DC motor DSP logic control program of the present invention based on Petri network, including such as
Lower step:
1) Petri net model of brshless DC motor logic control is established；
2) the brshless DC motor Dynamic behavior model based on Petri network reachability graph is established；
3) brshless DC motor DSP logic control program is designed by Petri network.
Wherein, step 1) is specific as follows:
1.1) Petri net model of Hall sensor is established:
By each Hall sensor describe 2 libraries and 2 transition composition ring, with a pair of of library instituteWithIt retouches respectively
The high level signal and low level signal for stating Hall sensor are changed with a pairWithHall sensor is described respectively by low
Level switches to high level switching and Hall sensor from high level to low level；
1.2) Petri net model of motor direction of rotation control variable is established:
Motor direction of rotation is controlled into the ring that input describes 2 libraries institute and 2 transition form, with a pair of of library instituteWith
Rotating and reverse for motor is described respectively；It is changed with a pairWithDescribe respectively motor by counter steer rotate forward switching and motor by
It is positive to turn to reversion switching；
1.3) Petri net model of each power tube is established:
For each power tube, with a pair of of library instituteWithThe on state and shutdown shape of power tube are described respectively
State；The trapezoidal commutation logic expression formula form of power tube is turned into disjunctive normal form, will each conjunction logical description be wherein one
Transition, the input of transition correspond to the corresponding library institute node of logical variable in conjunction logical expression, and the output of transition is power tube
Corresponding on or off library institute node.
Step 2) specifically: according to Petri network up to nomography, calculate the state set of brshless DC motor dynamical system
It closes, and is verified one by one according to trapezoidal commutation logic, if meet specification, if not meeting, redesign Petri net model.Wherein,
Under original state, being defaulted as whole signals is low level or off state, as the marked Tokken in corresponding library, obtains initially mark
Know.
Step 3) is specific as follows:
3.1) by the Petri network of each Hall sensor, according to its library institute titleWithProgram is controlled in DSP
In, defining the corresponding input variable of the sensor is Hi；
3.2) by the Petri network of course changing control variable, according to its library institute titleWithIn DSP control program,
Defining motor direction of rotation and controlling corresponding input variable is D；
3.3) by the Petri network of power tube variable, according to its library institute titleWithIt is fixed in DSP control program
The corresponding input variable of the justice power tube is VTi；
3.4) brshless DC motor is designed according to the execution logic of each transition by the Petri network of each power tube
DSP logic control program.
Embodiment
As shown in Figure 1, in the brushless direct current motor drive circuit of the present embodiment, motor stator winding star-like connection, inversion
Device uses three-phase full-bridge inverting circuit, and step mode is to be connected two-by-two.Rotor-position is detected by Hall sensor, sensor is defeated
Pulse width signal out is 180 ° of electrical angles, and three road hall signal phase difference outputs are 120 °, as shown in Figure 2 and Figure 3.At controller
It manages position signal and exports commutation information, drive the VT on three bridge arms of inverter circuit1~VT6Power tube, Hall sensor state with
Commutation relationship is as shown in the table:
The design method of the brshless DC motor DSP logic control program based on Petri network, including such as lower part
Point:
1) Petri net model of Hall sensor is established
As shown in figure 4, with a pair of of library instituteWithThe high level signal and low level letter of Hall sensor are described respectively
Number, it is changed with a pairWithHall sensor is described respectively from low level to high level switching and Hall sensor by high electricity
It puts down to low level and switches.
2) Petri net model of motor direction of rotation control variable is established
As shown in figure 5, with a pair of of library instituteWithRotating and reverse for motor is described respectively；It is changed with a pairWith
Motor is described respectively, and switching and motor are rotated forward by just turning to reversion switching by counter steer.
3) Petri net model of each power tube is established
With a pair of of library instituteWithThe on state and off state of power tube are described respectively；Trapezoidal by power tube is changed
Disjunctive normal form is turned to logical expression form, will each conjunction logical description be wherein a transition, the input of transition is corresponding
The corresponding library institute node of logical variable in conjunction logical expression, the output of transition are the corresponding on or off library institute of power tube
Node.As shown in fig. 6, with power tube VT3For (similarly, those skilled in the art are according to power tube VT for other power tubes3Retouch
Stating can derive, repeat no more), the input of transition isIt is defeated
It is outWithVT3It is conducting under 4 transitions conditions, is off under 4 transitions conditions.
4) the brshless DC motor logic control State Reachability Graph based on Petri network is established
4.1) by the Petri net model of power tube, available input transition collection and output transition collection are as follows:
4.2) concrete form that each state indicates in State Reachability Graph is as follows:
Wherein,It is 1,Indicate that Hall sensor is low level signal when being 0；It is 0,Indicate that Hall sensor is high level signal when being 1；It is 1,Motor reversal is indicated when being 0,
It is 0,Indicate that motor rotates forward when being 1；It is 1,Power tube off state is indicated when being 1,For
0,Power tube on state is indicated when being 1.
4.3) state m as shown in Figure 70For (similarly, those skilled in the art are according to state m for other states0Description
Can derive, repeat no more), m0It is the node being represented by dotted lines, then, m0It is an input original state, is defaulted as whole signals
For low level or off state, that is, m0=(1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0)T。
m0Via transitionIt is energized into m1, m3, m5, m7, m9, m11Middle any state, motor rotate forward, rotational order m1→m3
→m5→m7→m9→m11；m0By transitionIt is energized into m2, m4, m6, m8, m10, m12Middle any state, motor reversal rotate suitable
Sequence is m2→m4→m6→m8→m10→m12。
According to Petri network reachability graph, the state set of brshless DC motor dynamical system is calculated, and is patrolled according to trapezoidal commutation
It collects and signal is substituted into logical expression verifying one by one, if meet specification, if not meeting, redesign the Petri network mould of system
Type.
5) the DSP logic control program of brshless DC motor is designed according to the Petri network of power tube
5.1) by the Petri network of each Hall sensor, according to its library institute titleWithProgram is controlled in DSP
In, defining the corresponding input variable of the sensor is Hi；
5.2) by the Petri network of course changing control variable, according to its library institute titleWithIn DSP control program,
Defining motor direction of rotation and controlling corresponding input variable is D；
5.3) by the Petri network of power tube variable, according to its library institute titleWithIt is fixed in DSP control program
The corresponding input variable of the justice power tube is VTi；
5.4) brshless DC motor is designed according to the execution logic of each transition by the Petri network of each power tube
DSP logic control program writes power tube VTiAssignment program instruction.
With VT3For, program is as follows:
“if VT3==0
VT3==！VT3&&！H1&&H2&&H3&&D；
VT3==！VT3&&！H1&&H2&&！H3&&D；
VT3==！VT3&&！H1&&H2&&H3&&！D；
VT3==！VT3&&！H1&&H2&&！H3&&！D；
else if VT3==1
VT3==VT3&&！(H1&&！H2&&H3)；
VT3==VT3&&！(！H1&&！H2&&H3)；
VT3==VT3&&！(H1&&H2&&！H3)；
VT3==VT3&&！(H1&&！H2&&！H3)；".
Above-described embodiment is intended merely to illustrate the present invention, and is not used as limitation of the invention.As long as according to this hair
Bright technical spirit is changed above-described embodiment, modification etc. will all be fallen in the scope of the claims of the invention.
Claims (5)
1. a kind of design method of the brshless DC motor DSP logic control program based on Petri network, which is characterized in that including
Following steps:
1) Petri net model of brshless DC motor logic control is established；
2) the brshless DC motor Dynamic behavior model based on Petri network reachability graph is established；
3) brshless DC motor DSP logic control program is designed by Petri network.
2. the design method of the brshless DC motor DSP logic control program according to claim 1 based on Petri network,
It is characterized in that, step 1) is specific as follows:
1.1) Petri net model of Hall sensor is established: with a pair of of library instituteWithThe height of Hall sensor is described respectively
Level signal and low level signal are changed with a pairWithHall sensor is described respectively to be switched from low level to high level
Switched with Hall sensor from high level to low level；
1.2) Petri net model of motor direction of rotation control variable is established: with a pair of of library instituteWithMotor is described respectively
It rotates and reverse；It is changed with a pairWithMotor is described respectively to be cut by counter steer rotating forward switching and motor by just turning to reversion
It changes；
1.3) Petri net model of each power tube is established: with a pair of of library instituteWithThe conducting shape of power tube is described respectively
State and off state；The trapezoidal commutation logic expression formula form of power tube is turned into disjunctive normal form, it will wherein each conjunction logic
Be described as a transition, the input of transition corresponds to the corresponding library institute node of logical variable in conjunction logical expression, transition it is defeated
It is out the corresponding on or off library institute node of power tube.
3. the design method of the brshless DC motor DSP logic control program according to claim 1 based on Petri network,
It is characterized in that, step 2) specifically: according to Petri network up to nomography, calculate the state of brshless DC motor dynamical system
Set, and verified one by one according to trapezoidal commutation logic, if meet specification, if not meeting, redesigns Petri net model.
4. the design method of the brshless DC motor DSP logic control program according to claim 3 based on Petri network,
It is characterized in that, under original state, being defaulted as whole signals is low level or off state, as corresponding library in step 2)
Marked Tokken obtains initial marking.
5. the design method of the brshless DC motor DSP logic control program according to claim 1 based on Petri network,
It is characterized in that, step 3) is specific as follows:
3.1) by the Petri network of each Hall sensor, according to its library institute titleWithIt is fixed in DSP control program
The corresponding input variable of the justice sensor is Hi；
3.2) by the Petri network of course changing control variable, according to its library institute titleWithIn DSP control program, definition electricity
It is D that machine direction of rotation, which controls corresponding input variable,；
3.3) by the Petri network of power tube variable, according to its library institute titleWithIn DSP control program, definition should
The corresponding input variable of power tube is VTi；
3.4) it designs brshless DC motor DSP according to the execution logic of each transition by the Petri network of each power tube and patrols
Collect control program.
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| CN201911233946.1A CN110865586B (en) | 2019-07-26 | 2019-12-05 | Petri network-based brushless direct current motor DSP logic control program design method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110955251A (en) * | 2019-12-25 | 2020-04-03 | 华侨大学 | Petri network-based mobile robot brain-computer cooperative control method and system |
| CN111124694A (en) * | 2019-11-14 | 2020-05-08 | 武汉纺织大学 | Reachable graph deadlock detection and solution method based on petri net |
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| US7584449B2 (en) * | 2004-11-22 | 2009-09-01 | Fulcrum Microsystems, Inc. | Logic synthesis of multi-level domino asynchronous pipelines |
| CN102411330B (en) * | 2011-08-25 | 2014-03-12 | 华侨大学 | Method for converting PLC program into common Petri net |
| CN103019233B (en) * | 2012-12-21 | 2015-04-15 | 华侨大学 | Method for detecting whether race condition exists in PLC (programmable logic controller) ladder diagram program or not |
| CN103699730B (en) * | 2013-12-18 | 2017-02-22 | 华侨大学 | Petri-net-based combined logic FPGA (Field Programmable Gate Array) system reachability graph generation method |
| CN103761387B (en) * | 2014-01-20 | 2017-01-18 | 华侨大学 | Formal verification method for sequencing specification of FPGA (field programmable gate array) combinatorial logic system |
| CN105760653A (en) * | 2016-01-29 | 2016-07-13 | 北京航空航天大学 | System safety analyzing method based on random time Petri network |
| CN108647380B (en) * | 2018-04-02 | 2020-07-14 | 同济大学 | Concurrent system error detection method, system, medium and device based on PD-Net |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111124694A (en) * | 2019-11-14 | 2020-05-08 | 武汉纺织大学 | Reachable graph deadlock detection and solution method based on petri net |
| CN111124694B (en) * | 2019-11-14 | 2023-10-27 | 武汉纺织大学 | Deadlock detection and solution method for reachability graph based on petri network |
| CN110955251A (en) * | 2019-12-25 | 2020-04-03 | 华侨大学 | Petri network-based mobile robot brain-computer cooperative control method and system |
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